Lung ultrasonic endoscope

Abstract

The lung ultrasonic endoscope comprises an endoscope body and a puncture assembly arranged in the endoscope body, the near end of the puncture assembly is connected with a handle part, the puncture assembly comprises a sheathing canal, a puncture needle tube and a biopsy channel tube, the far end of the puncture needle tube and the far end of the biopsy channel tube are fixedly connected and coaxially arranged in the sheathing canal in a sleeved mode, and the puncture needle tube is connected with the biopsy channel tube in a sleeved mode. An ultrasonic probe is in contact with the interior of the puncture needle tube, a spine is arranged at the far end of the puncture needle tube, a magnetic positioning sensor is fixedly connected into the spine, an ultrasonic transmitting surface of the ultrasonic probe faces the advancing direction of the spine, and the magnetic positioning sensor is adjacent to the spine; by means of the puncture needle tube and the ultrasonic probe, the area in front of the needle tip can be recognized in advance, the magnetic positioning sensor embedded into the spine is matched with the external attaching part outside the body, the spine can be accurately positioned in real time, puncture target deviation is avoided, and the whole puncture needle is easy to operate and convenient to independently operate.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a lung ultrasound endoscope. Background Technology

[0002] Lung ultrasound endoscopy is an advanced minimally invasive examination method that combines ultrasound technology with bronchoscopy. It can provide real-time imaging and precisely guide biopsies, allowing doctors to observe lesions outside the airway and deep in the lungs, achieving efficient and safe pathological diagnosis.

[0003] Currently, the mainstream clinical approach for pathological diagnosis of lesions in the mediastinum, hilum, and peripheral lung is transbronchial needle aspiration biopsy guided by endobronchial ultrasound (EBUS). This technique allows for minimally invasive puncture and sampling through the natural airway, eliminating the need for open-chest surgery, and is considered the gold standard for preoperative diagnosis and staging of lung lesions. During the procedure, the surgeon plans the procedure based on experience using two-dimensional CT images, combined with the patient's actual position and respiratory movements. A three-dimensional abstract simulation is then created in the patient's mind and transmitted to the hands to insert the needle into the lung. Repeated CT scans are performed to adjust the puncture angle and depth, ultimately reaching the target lesion for needle aspiration biopsy.

[0004] However, this commonly used procedure can only indirectly monitor the puncture path through the lateral ultrasound probe at the tip of the endoscope. It cannot obtain tissue images directly in front of the needle tip. At this time, the rest in front of the needle tip is a blind spot during the puncture process and cannot be identified in advance. In addition, since the patient will continuously breathe during the operation, the body position will be greatly affected, which may lead to the phenomenon of puncture deviating from the target, which is not conducive to subsequent biopsy. Summary of the Invention

[0005] The purpose of this invention is to provide a lung ultrasound endoscope to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a lung ultrasound endoscope, comprising an endoscope and a puncture assembly disposed in the endoscope, wherein the proximal end of the puncture assembly is connected to a handle portion;

[0007] The puncture assembly includes a sheath, a puncture needle, and a biopsy channel tube. The distal ends of the puncture needle and the biopsy channel tube are fixedly connected and coaxially sleeved inside the sheath. An ultrasound probe is in contact inside the puncture needle. A spike is provided at the distal end of the puncture needle. A magnetic positioning sensor is fixedly connected inside the spike. The ultrasound emitting surface of the ultrasound probe faces the direction of travel of the spike. The magnetic positioning sensor is adjacent to the spike.

[0008] Preferably, the puncture needle tube and the distal end of the biopsy channel tube are integrally connected, and an annular mounting groove is provided between the two. A shielded cable, an ultrasonic probe and a signal amplifier are fixedly connected in the annular mounting groove. The surface layer of the shielded cable is a grounded shielding layer. The output end of the ultrasonic probe passes through the annular mounting groove and insulating glue and is close to the spike. The spike and insulating glue do not block the emitting surface of the ultrasonic probe. The signal amplifier is in close contact with the ultrasonic probe. The annular mounting groove is filled with insulating glue.

[0009] Preferably, the distal end of the puncture needle is integrally formed with the spike, and a non-penetrating mounting hole is provided on the side of the spike. A magnetic positioning sensor matching its shape is fixedly connected in the mounting hole. The shielded cable is electrically connected to the magnetic positioning sensor, the ultrasound probe and the signal amplifier through a wire. An external attachment part matching the magnetic positioning sensor is provided on the outside of the endoscope.

[0010] Preferably, the handle includes a housing, with a first rotating wheel and a second rotating wheel rotatably connected on the same side of the housing via a damping bearing. A connecting cylinder is slidably connected to the inner wall of the housing. A connecting column is fixedly connected to the inner wall of the first rotating wheel. A spherical component is fixedly connected to the other end of the connecting column. Limiting rings are fixedly connected to both ends of the connecting cylinder. The limiting rings are in contact with the inner wall of the handle. A curved groove is formed on the outer arc surface of the connecting cylinder, and the spherical component is slidably connected to the curved groove.

[0011] Preferably, the proximal end of the sheath is fixedly connected to the outer shell, the proximal end of the puncture needle passes through the connecting tube and is fixedly connected to it, the proximal end of the biopsy channel tube is coaxially sealed and detachably connected to the tip of the self-locking negative pressure injector, and the self-locking negative pressure injector is detachably connected inside the outer shell.

[0012] Preferably, a gear with the same rotating shaft is fixedly connected to the side of the second rotating wheel, and a rack is slidably connected inside the outer shell. A fixing plate is fixedly connected to one end of the rack, and the fixing plate is engaged with the piston end of the self-locking negative pressure injector.

[0013] Preferably, the outer patch includes three flexible patches, each of which is fixedly connected to a magnetic field generator. The three magnetic field generators are driven synchronously and emit low-frequency alternating magnetic fields of different frequencies. A reference magnetic sensor is fixedly connected to each of the four corners of each flexible patch.

[0014] Preferably, the sheath is coaxially nested in the endoscope, and the distal end of the sheath has a smooth, rounded, blunt-edged structure.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By integrating an ultrasound probe facing the direction of the needle tip at the distal end of the puncture needle tube, the tissue in front of the needle tip can be imaged in real time, thereby eliminating the blind spot of the traditional operation, and making it easier to identify the area in front of the needle tip in advance, thus improving clinical safety.

[0016] 2. By using a magnetic positioning sensor embedded in the spike in conjunction with an external attachment, the position and orientation of the spike in a three-dimensional magnetic field can be accurately located in real time, thus avoiding the problem of off-target puncture and facilitating subsequent biopsy.

[0017] 3. By placing the self-locking negative pressure injector and the puncture needle movement control part in the same handle and controlling them with different rollers, it is convenient for doctors to operate independently when necessary. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of the outer shell of the present invention;

[0020] Figure 3 This is a schematic diagram of the connecting cylinder structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the rotor structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the spike structure of the present invention;

[0023] Figure 6 This is a schematic diagram of the internal structure of the puncture component of the present invention.

[0024] In the diagram: 1. Puncture assembly; 11. Sheath; 12. Puncture needle; 13. Biopsy channel tube; 14. Annular mounting groove; 15. Shielded cable; 16. Grounding shield layer; 17. Insulating adhesive; 18. Spike; 19. Mounting hole; 110. Ultrasonic probe; 111. Magnetic positioning sensor; 112. Signal amplifier; 2. Handle; 21. Housing; 22. Rotary wheel one; 23. Connecting post; 24. Spherical part; 25. Connecting cylinder; 26. Curved groove; 27. Limiting ring; 28. Rotary wheel two; 29. ​​Gear; 210. Rack; 211. Fixing clamp; 3. Self-locking negative pressure injector; 4. External patch; 41. Flexible patch; 42. Magnetic field generator; 5. Endoscope. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-6The present invention provides a technical solution: a lung ultrasound endoscope, including an endoscope 5 and a puncture component 1 disposed in the endoscope 5. The endoscope 5 is the main body of the lung ultrasound endoscope 5, and its endoscope body includes a flexible insertion tube, an airway direct-view optical imaging module, and a working channel that runs through the axis. The endoscope 5 can provide an insertion channel and basic imaging support for the puncture component 1. The proximal end of the puncture component 1 is connected to a handle 2, which can be controlled by the doctor holding the handle 2. The handle 2 is adapted to the operating part of the endoscope 5.

[0027] The puncture assembly 1 is mainly used to insert into the lesion and assist in sample extraction. It mainly includes a sheath 11, a puncture needle 12, and a biopsy channel tube 13. These three components form a coaxial, nested, stepped structure, arranged from the outside in: sheath 11, puncture needle 12, and biopsy channel tube 13. The distal ends of the puncture needle 12 and biopsy channel tube 13 are integrated and seamlessly fixed. The connection point is rounded and blunted to ensure no burrs or protrusions. An annular mounting groove 14 is provided between them. The mounting groove 14 can be a closed annular cavity formed between the inner wall of the puncture needle tube 12 and the outer wall of the biopsy channel tube 13. The annular mounting groove 14 provides independent mounting space for electronic components and circuits. Shielded cable 15, ultrasonic probe 110, and signal amplifier 112 are fixedly connected in the annular mounting groove 14. The three are arranged sequentially along the axial direction in the annular mounting groove 14 without spatial interference. The surface layer of the shielded cable 15 is a grounding shielding layer 16, which is a titanium alloy foil layer. The grounding shielding layer 16 effectively isolates crosstalk between high-frequency ultrasonic signals and low-frequency magnetic positioning signals, thereby shielding against external electromagnetic interference. The output end of the ultrasonic probe 110 passes through the annular mounting groove 14 and insulating glue 17 and is close to the spike 18. The ultrasonic transmission output end of the ultrasonic probe 110 is close to the spike 18 to ensure the clarity and real-time performance of the forward imaging. At this time, neither the spike 18 nor the insulating glue 17 will block the emitting surface of the ultrasonic probe 110, thus ensuring that the emitting surface is completely exposed, thereby ensuring normal transmission and echo reception of ultrasonic waves. The signal amplifier 112 is close to the ultrasonic probe 110, which can effectively amplify the ultrasonic echo signal nearby, thereby significantly reducing signal attenuation and noise interference during long-distance transmission. The annular mounting groove 14 is filled with insulating glue 17, which is medical epoxy insulating glue 17. By filling it into the fixing area of ​​the circuit and components, the overall circuit and other components are fixed, thus ensuring the overall waterproof sealing and structural fixation.

[0028] The distal end of the puncture needle 12 is integrally formed with the spike 18, both being processed from the same non-magnetic medical metal tube to ensure the rigidity and structural strength of the spike 18. A non-penetrating mounting hole 19 is provided on the side of the spike 18 to avoid affecting the airtightness of the biopsy channel during biopsy aspiration. A magnetic positioning sensor 111 with a matching shape is fixedly connected inside the mounting hole 19. The two are bonded together with medical low-temperature epoxy adhesive. At this time, the surface of the magnetic positioning sensor 111 is flush with the outer wall of the spike 18, without protrusions or depressions, thus avoiding hooking during puncture. The magnetic positioning sensor 111 is an AMR sensor with a size not exceeding 0.5mm × 0.5mm × 0.3mm, which is adapted to fit the installation space of the spike 18. The shielded cable 15 is electrically connected to the magnetic positioning sensor 111, the ultrasound probe 110 and the signal amplifier 112 through the wire. The endoscope 5 is provided with an external attachment part 4 that matches the magnetic positioning sensor 111. The external attachment part 4 is the magnetic field generating end of the magnetic positioning system, which can establish a three-dimensional uniform magnetic field in the lesion area of ​​the patient's chest cavity, thereby providing a positioning reference for the magnetic positioning sensor 111.

[0029] The handle part 2 includes a housing 21. The surface of the housing 21 is provided with anti-slip texture. On the same side of the housing 21, a first rotating wheel 22 and a second rotating wheel 28 are rotatably connected via damping bearings. The first rotating wheel 22 rotates horizontally, and the second rotating wheel 28 rotates vertically, thus ensuring that they do not interfere with each other during operation. The damping bearings also ensure the smoothness of the rotating wheels during rotation and the stability of their hovering, preventing accidental rotation. A connecting cylinder 25 is slidably connected to the inner wall of the housing 21. The connecting cylinder 25 is coaxially arranged with the proximal end of the puncture needle tube 12. A connecting post 23 is fixedly connected to the inner wall of the first rotating wheel 22. A spherical component 24 is fixedly connected to the other end of the connecting post 23. The spherical component 24 is a smooth stainless steel ball. When the first rotating wheel 22 rotates, the spherical component 24 can be driven to rotate synchronously through the connecting post 23. Limiting rings are fixedly connected to both ends of the connecting cylinder 25. 27. The outer diameter of the limiting ring 27 is larger than the outer diameter of the connecting cylinder 25. The limiting ring 27 can limit the maximum sliding stroke of the connecting cylinder 25, thereby preventing the puncture needle tube 12 from extending beyond its stroke. The limiting ring 27 is slidably connected to the inner wall of the outer shell 21 through a protrusion, thereby ensuring that the sliding of the connecting cylinder 25 is unidirectional. The outer arc surface of the connecting cylinder 25 is provided with a curved groove 26. The curved groove 26 is a spiral curved groove 26. The spherical part 24 can slide in the curved groove 26. At this time, the rotational motion of the first rotating wheel 22 can be converted into the axial linear motion of the connecting cylinder 25 through the cooperation of the spherical part 24 and the curved groove 26. The spherical part 24 is slidably connected to the curved groove 26. When the first rotating wheel 22 is rotated, the spherical part 24 slides along the curved groove 26, thereby driving the connecting cylinder 25 to slide axially. At this time, the puncture needle tube 12 moves accordingly.

[0030] The proximal end of the sheath 11 is fixedly connected to the outer shell 21 to ensure that the sheath 11 remains stationary during puncture and does not move synchronously with the puncture needle 12. The proximal end of the puncture needle 12 passes through the connecting tube 25 and is fixedly connected to it. At this time, when the connecting tube 25 moves axially, it can synchronously drive the puncture needle 12 to move. The proximal end of the biopsy channel tube 13 is coaxially sealed and detachably connected to the tip of the self-locking negative pressure injector 3. The two are sealed together by a standard medical Luer conical connector, which can be quickly inserted and removed for replacement. Moreover, the piston of the self-locking negative pressure injector 3 will not move due to negative pressure during use. The biopsy channel tube 13 has a spirally coiled flexible redundant section at its proximal end. In its initial state, the redundant section is housed in the inner cavity of the outer shell 21. It can be used to compensate for the axial movement of the puncture needle tube 12 and the stroke displacement during retraction, thereby preventing the biopsy channel tube 13 from becoming loose from the self-locking negative pressure injector 3 and the seal from failing during movement. The self-locking negative pressure injector 3 is detachably connected inside the outer shell 21. The outer shell 21 has a mounting slot that matches the shape of the injector, which can realize the quick assembly and disassembly of the injector and fixation, without shaking or displacement during the operation.

[0031] A gear 29 with the same shaft is fixedly connected to the side of the rotating wheel 28. At this time, the rotating wheel 28 and the gear 29 rotate synchronously without relative displacement. A rack 210 is slidably connected inside the outer shell 21. The rack 210 meshes with the gear 29. A fixing plate 211 is fixedly connected to one end of the rack 210. At this time, the fixing plate 211 can move axially synchronously with the rack 210. The fixing plate 211 is engaged with the piston end of the self-locking negative pressure injector 3. When the rotating wheel 28 is rotated, the rack 210 can be driven to move axially through the gear 29, and then the injector piston is pulled through the fixing plate 211, thereby forming a stable negative pressure in the biopsy channel tube 13 to realize the sampling of tissue specimens.

[0032] The outer patch 4 mainly includes a flexible patch 41. The surface of the flexible patch 41 is coated with a low-allergenic medical pressure-sensitive adhesive, allowing it to conform to the curvature of the patient's chest wall while ensuring no displacement or lifting during surgery. Three flexible patches 41 are provided, and during use, they are respectively attached to the front of the patient's chest, the side of the chest, and the back, thus forming a three-dimensional orthogonal magnetic field enveloping the entire thoracic cavity. Each of the three flexible patches 41 is fixedly connected to a magnetic field generator 42. The thickness of the magnetic field generator 42 does not exceed 0.1mm, allowing it to bend freely with the flexible patch 41. The three magnetic field generators 42 are synchronously driven and emit low-frequency alternating magnetic fields of different frequencies, thereby achieving spatial position identification of the magnetic positioning sensor 111 through frequency encoding, avoiding mutual interference between the magnetic fields of multiple coils. A reference magnetic sensor is fixedly connected to each of the four corners of each flexible patch 41. During use, the magnetic... The positioning sensor 111 provides the spatial coordinates of the needle tip to the host, and the ultrasound probe 110 provides the tissue image in front of the needle tip. Both are processed by the signal amplifier 112 to achieve real-time registration of the spatial coordinates and the ultrasound image. At the same time, when the patient's breathing causes displacement of the chest cavity, the magnetic positioning sensor 111 can track the change in the position of the needle tip in real time, thereby performing dynamic compensation on the ultrasound image to ensure that the position of the needle 18 remains accurate. The sheath 11 is coaxially nested in the endoscope 5, that is, located in the working channel of the endoscope 5. The outer diameter of the sheath 11 is adapted to the standard working channel of the inner diameter of the endoscope 5 to ensure smooth insertion and withdrawal of the sheath 11. The distal end of the sheath 11 has a smooth arc-shaped blunt end to avoid scratching the working channel of the endoscope 5 during insertion and withdrawal, and also to avoid scratching the patient during the sampling process.

[0033] In actual use, before surgery, the three flexible patches 41 of the outer patch 4 are attached to the corresponding positions on the patient's chest, side chest, and back, respectively. Simultaneously, the three magnetic field generators 42 are connected to the matching pulmonary ultrasound endoscope 5 imaging host and driven and adjusted synchronously. This causes the three magnetic field generators 42 to emit low-frequency alternating magnetic fields of different frequencies (100Hz-1kHz), forming a three-dimensional orthogonal positioning magnetic field coordinate system within the patient's thoracic cavity. At the same time, a reference magnetic sensor collects the magnetic field data of the reference position in real time, which is used for real-time correction of the magnetic field coordinates when the patient's thoracic cavity changes. Subsequently... The endoscope 5 is positioned at the airway puncture point corresponding to the patient's lesion using the airway direct vision optical imaging module built into the endoscope 5. Then, the endoscope 5 is fixed and the puncture component 1 is smoothly inserted through the working channel of the endoscope 5. When the distal end of the sheath 11 reaches the puncture point, the doctor rotates the rotary wheel 22, which drives the spherical part 24 to slide along the curved groove 26. At this time, under the action of the curved groove 26, the connecting tube 25 begins to slide axially in a straight line, which in turn drives the puncture needle tube 12 and the biopsy channel tube 13, which are rigidly connected to the connecting tube 25, to extend forward synchronously along the inner wall of the sheath tube 11 to begin puncture.

[0034] During this process, the ultrasound probe 110 and the magnetic positioning sensor 111 begin to operate. The ultrasound probe 110 emits high-frequency ultrasound waves in the direction of the needle tip 18's movement. After receiving the ultrasound echo signal from the tissue in front of the needle tip, it is amplified by the signal amplifier 112 located close to it. The signal is then transmitted to the imaging navigation host via the shielded cable 15 for observation and calibration. Simultaneously, the magnetic positioning sensor 111 can collect the three-dimensional magnetic field signal at the current location in real time, which is also transmitted to the imaging navigation host. The host, combined with the real-time data from the reference magnetic sensor, can calculate the three-dimensional spatial coordinates and specific posture of the needle tip, thus achieving real-time navigation and positioning of the needle tip throughout its entire journey. By observing the ultrasound images and magnetic navigation positioning data on the imaging navigation host, the doctor can precisely control the movement of the puncture needle towards the target lesion, thereby identifying micro-lesions in front of the needle tip in advance. To minimize the risk of injury to small blood vessels and tissue boundaries during surgery, once the screen displays that the needle tip has precisely reached the target lesion, the doctor rotates the second rotating wheel 28 to drive the gear 29 to rotate synchronously. At this time, the gear 29 drives the rack 210 to move, causing the fixing clamp 211 to pull the piston of the self-locking negative pressure injector 3 backward at a uniform speed, thereby forming a stable and sealed negative pressure in the biopsy channel tube 13. After completing the biopsy sampling, the negative pressure in the biopsy channel tube 13 can be released first by rotating the second rotating wheel 28, and then the first rotating wheel 22 can be rotated in the opposite direction to completely retract the puncture needle tube 12 and the biopsy channel tube 13 into the sheath tube 11. Finally, the puncture assembly 1 is pulled out from the working channel of the endoscope 5, and then the tissue specimen is completely pushed out by pushing the piston of the self-locking negative pressure injector 3. After examining the airway through the endoscope 5, it can be withdrawn from the patient's body, completing the operation.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lung ultrasound endoscope, characterized in that: Includes an endoscope (5) and a puncture assembly (1) disposed in the endoscope (5), wherein the proximal end of the puncture assembly (1) is connected to a handle portion (2). The puncture assembly (1) includes a sheath (11), a puncture needle (12), and a biopsy channel tube (13). The distal ends of the puncture needle (12) and the biopsy channel tube (13) are fixedly connected and coaxially sleeved inside the sheath (11). An ultrasound probe (110) is in contact inside the puncture needle (12). A spike (18) is provided at the distal end of the puncture needle (12). A magnetic positioning sensor (111) is fixedly connected inside the spike (18). The ultrasound emitting surface of the ultrasound probe (110) faces the advancing direction of the spike (18). The magnetic positioning sensor (111) is adjacent to the spike (18).

2. The pulmonary endoscopic ultrasound according to claim 1, characterized in that: The puncture needle tube (12) is integrated with the distal end of the biopsy channel tube (13), and an annular mounting groove (14) is provided between the two. A shielded cable (15), an ultrasonic probe (110) and a signal amplifier (112) are fixedly connected in the annular mounting groove (14). The surface of the shielded cable (15) is a grounded shielding layer (16). The output end of the ultrasonic probe (110) passes through the annular mounting groove (14) and the insulating glue (17) and is close to the spike (18). The spike (18) and the insulating glue (17) do not block the emitting surface of the ultrasonic probe (110). The signal amplifier (112) is close to the ultrasonic probe (110). The annular mounting groove (14) is filled with insulating glue (17).

3. The pulmonary endoscopic ultrasound according to claim 1, characterized in that: The distal end of the puncture needle (12) is integrally formed with the spike (18). The side of the spike (18) is provided with a non-penetrating mounting hole (19). A magnetic positioning sensor (111) matching its shape is fixedly connected in the mounting hole (19). The shielded cable (15) is electrically connected to the magnetic positioning sensor (111), the ultrasound probe (110) and the signal amplifier (112) through the wire. The endoscope (5) is provided with an external attachment part (4) matching the magnetic positioning sensor (111).

4. A lung ultrasound endoscope according to claim 3, characterized in that: The handle part (2) includes a housing (21). On the same side of the housing (21), a first rotating wheel (22) and a second rotating wheel (28) are rotatably connected via a damping bearing. A connecting cylinder (25) is slidably connected to the inner wall of the housing (21). A connecting column (23) is fixedly connected to the inner wall of the first rotating wheel (22). A spherical part (24) is fixedly connected to the other end of the connecting column (23). Limiting rings (27) are fixedly connected to both ends of the connecting cylinder (25). The limiting rings (27) are in contact with the inner wall of the handle part (2). A curved groove (26) is opened on the outer arc surface of the connecting cylinder (25). The spherical part (24) is slidably connected to the curved groove (26).

5. A lung ultrasound endoscope according to claim 4, characterized in that: The proximal end of the sheath (11) is fixedly connected to the outer shell (21), the proximal end of the puncture needle tube (12) passes through the connecting tube (25) and is fixedly connected to it, the proximal end of the biopsy channel tube (13) is coaxially sealed and detachably connected to the tip of the self-locking negative pressure injector (3), and the self-locking negative pressure injector (3) is detachably connected inside the outer shell (21).

6. A lung ultrasound endoscope according to claim 5, characterized in that: The side of the rotating wheel (28) is fixedly connected to a gear (29) with the same rotating shaft, and a rack (210) is slidably connected inside the outer shell (21). One end of the rack (210) is fixedly connected to a fixing plate (211), and the fixing plate (211) is engaged with the piston end of the self-locking negative pressure injector (3).

7. A lung ultrasound endoscope according to claim 3, characterized in that: The outer part (4) includes a flexible patch (41), and there are three flexible patches (41). Each of the three flexible patches (41) is fixedly connected to a magnetic field generator (42). The three magnetic field generators (42) are synchronously driven and emit low-frequency alternating magnetic fields of different frequencies respectively. A reference magnetic sensor is fixedly connected to each of the four corners of each flexible patch (41).

8. A lung ultrasound endoscope according to claim 1, characterized in that: The sheath (11) is coaxially nested in the endoscope (5), and the distal end of the sheath (11) has a smooth, rounded, blunt-mouthed structure.

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